36 void PTG_Generator(
float alpha,
float t,
float x,
float y,
float phi,
float &v,
float &w );
A PTG for optimal paths of type "C|C,S" (as named in PTG papers).
std::string getDescription() const
Gets a short textual description of the PTG and its parameters.
CPTG3(const mrpt::utils::TParameters< double > ¶ms)
Constructor: possible values in "params", those of CParameterizedTrajectoryGenerator plus:
bool PTG_IsIntoDomain(float x, float y)
To be implemented in derived classes.
void PTG_Generator(float alpha, float t, float x, float y, float phi, float &v, float &w)
The main method to be implemented in derived classes.
This is the base class for any user-defined PTG.
EIGEN_STRONG_INLINE const AdjointReturnType t() const
Transpose.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
For usage when passing a dynamic number of (numeric) arguments to a function, by name.